CN210757786U

CN210757786U - Manipulator conveyer

Info

Publication number: CN210757786U
Application number: CN201921594894.6U
Authority: CN
Inventors: 杨磊; 钟洪亮
Original assignee: Shanghai Junzheng Network Technology Co Ltd
Current assignee: Shanghai Junzheng Network Technology Co Ltd
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2020-06-16
Anticipated expiration: 2029-09-24

Abstract

The utility model relates to a manipulator conveying device, which comprises a manipulator; the manipulator is movably arranged on the first conveying device, and the first conveying device is used for driving the manipulator to move in a first direction; the first conveying device is movably arranged on the first conveying device, and the first conveying device is used for driving the first conveying device and the mechanical arm to move in a first direction; and the third conveying device is used for driving the second conveying device, the first conveying device and the manipulator to move in a third direction, and the third direction is vertical to the first direction and the second direction. The technical scheme that this application provided, simple structure, it is swift to remove, can realize the manipulator along the ascending removal in three dimension direction to the removal in three direction is independent each other, and the follow-up maintenance of being convenient for.

Description

Manipulator conveyer

Technical Field

The utility model relates to the field of mechanical engineering, especially, relate to a manipulator conveyer.

Background

The development of industrial automation has promoted the demand of industrial robots, which have the function of fixedly gripping and transporting objects, and have been used for replacing human beings gradually to complete repetitive and heavy-load work. Along with the development of various industries, the requirements and application scenes of the industrial robot also show a diversified development trend, and particularly, in the structural design of the manipulator, the manipulator with different structures can better complete the operation according to the difference of operation requirements.

The transfer robot is a field with more manipulator applications, grasps article and transfers next station through the manipulator, can reduce workman's repetition work, provides work efficiency simultaneously. However, most of the currently available transfer robots move the articles in the production line from one station to another, and the transportation is mostly performed on a plane.

At present, a transportation device for realizing movement of a manipulator in three dimensional directions in a three-dimensional frame structure is not available for the three-dimensional frame structure.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a manipulator transportation device for the problem that the manipulator in the three-dimensional frame structure moves in three dimensions.

A manipulator transport unit comprises a manipulator; the first conveying device is movably arranged on the manipulator and is used for driving the manipulator to move in a first direction; the first conveying device is movably arranged on the second conveying device, the second conveying device is used for driving the first conveying device and the mechanical arm to move in a second direction, and the second direction is perpendicular to the first direction; the second conveying device is movably arranged on the third conveying device, the third conveying device is used for driving the second conveying device, the first conveying device and the mechanical arm to move in a third direction, and the third direction is perpendicular to the first direction and the second direction.

Further, the manipulator comprises an adjusting mechanism and two oppositely arranged clamping parts, and the distance between the two clamping parts is adjusted through the adjusting mechanism.

Furthermore, the adjusting structure comprises a power device, a main gear, an auxiliary gear, a support, a screw rod and a connecting frame, wherein the power device is connected with the main gear, the auxiliary gear is meshed with the main gear, and the auxiliary gear is sleeved on the screw rod and is connected with the connecting frame through the screw rod.

Further, the first conveying device comprises a first bottom plate and a first driving unit arranged on the first bottom plate, and the manipulator is arranged on the first bottom plate and is moved in the first direction under the action of the first driving unit.

Furthermore, the first conveying device further comprises a first guide rail and a first transmission part, the first guide rail is arranged on the first bottom plate, the first transmission part is connected with the first driving unit, the first transmission part is arranged on the first bottom plate and is parallel to the first guide rail, a sliding block is arranged on the first guide rail, and the sliding block is connected with the manipulator through a connecting frame.

Furthermore, the manipulator is connected with the first driving unit through the connecting frame, and the first driving unit moves along the first transmission part, so that the manipulator is driven to complete the movement in the first direction along the first guide rail.

Further, the first base plate is disposed on the second conveyor, and the second conveyor includes a second base plate parallel to the first base plate and a second driving unit disposed on the second base plate.

Further, the second conveying device further comprises a second guide rail and a second transmission portion, the second guide rail is arranged on the second bottom plate, the second transmission portion is connected with the second driving unit, the second transmission portion is arranged on the second bottom plate and parallel to the second guide rail, the second driving unit is connected with the first conveying device, and the second driving unit moves along the second transmission portion, so that the first conveying device is driven to move along the second guide rail in the second direction.

Further, the third conveying device comprises a chain wheel structure and a third driving unit, and the third driving unit drives the chain wheel structure to rotate so as to drive the second conveying device to complete the movement in the third direction.

Further, the third conveying device further comprises a frame, the frame is perpendicular to the second bottom plate, and the chain wheel structure is arranged on the frame.

The application provides a manipulator conveyer, the function of automatic centre gripping article can be realized to the manipulator, and simultaneously, the manipulator accomplishes the three dimension direction removal of first direction, second direction, third direction under conveyor's effect, satisfies the three-dimensional removal in a space frame structure, through predetermined procedure for article can move arbitrary preset position in the frame under manipulator's effect, thereby make things convenient for subsequent work. The technical scheme that this application provided, simple structure removes swiftly to the removal of three direction can independently go on each other, and the follow-up maintenance of being convenient for.

Various specific structures of the present application, as well as the functions and effects thereof, will be described in further detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a robot structural view of a robot transportation device according to an embodiment of the present application;

fig. 2 is a structural view of a first conveyor of the robot transportation device according to an embodiment of the present application;

fig. 3 is a structural view of a second conveyor of the robot transportation device according to an embodiment of the present application;

fig. 4 is a perspective view of a robotic transport device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be further clearly and completely described below with reference to the accompanying drawings, but it should be noted that the following embodiments are only some preferred embodiments in the present application, and do not refer to all embodiments covered by the technical solutions of the present application.

It should be noted that when an element is referred to as being "fixed" to another element in the description of the present application, it may be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 is a diagram showing a robot structure of a robot transport apparatus according to an embodiment of the present invention, and the robot 1 includes a grip 11 and an adjustment mechanism 12. Wherein, two clamping parts 11 set up relatively, and adjustment mechanism 12 is connected with clamping part 11 for adjust the distance between two clamping parts 11. The working part 111 of the clamping part 11 is L-shaped, so that a U-shaped cavity body is formed between the two oppositely arranged clamping parts 11, and the articles to be clamped are fixed between the U-shaped cavity bodies by adjusting the width of the U-shaped cavity body, so that the clamping of different articles is realized. It should be noted that the end 111 of the clamping portion 11 is L-shaped, and is matched with the structure of the article to be clamped, for example, the article to be clamped is regular cubic, and the L-shaped clamping portion 11 can clamp the article in the cavity, but the designer can select the structure of the clamping portion 11 of the manipulator 1 to be matched with the actual structure of the article to be clamped. In this embodiment, the clamping portion 11 is used for clamping the battery, and the manipulator transportation device of the present application can be adapted to batteries with different sizes by adjusting the width of the U-shaped cavity.

The adjustment mechanism 12 includes a power device 121, a main gear 122, a pinion gear 123, a bracket 124, a screw rod 125, and a connecting bracket 126. In this embodiment, the power device 121 is used for outputting power, for example, the power device 121 is a motor, and drives the main gear 122 connected to the output end thereof to rotate, the main gear 122 is engaged with the sub-gear 123, and the sub-gear 123 is sleeved on the screw rod 125 and connected to the connecting frame 126 through the screw rod 125. The rotation axis of the main gear 122 is perpendicular to the horizontal plane, the axial direction of the screw rod 125 is parallel to the horizontal direction, the pinion 123 is arranged on the screw rod 125, the rotation axis thereof is located in the horizontal plane, and the rotation of the pinion 123 is driven by the rotation of the main gear 122, so that the rotation in the vertical direction is converted into the rotation in the horizontal direction.

The support 124 is sleeved on the screw rod 125 and connected with the clamping parts 11, the pinion 123 rotates to drive the screw rod 125 to rotate, the joint of the support 124 and the screw rod 125 has a matched spiral structure, and when the screw rod 125 rotates, the support 124 can be driven to reciprocate along the screw rod 125, so that the distance between the two clamping parts 11 is changed. Furthermore, in the present embodiment, a slide way 127 and a moving block 112 are further provided, the slide way 127 is connected with the connecting frame 126 and is parallel to the screw rod 125; the moving block 112 is connected to the bracket 124 and can move along the slide 127 under the driving of the bracket 124. The slideway 127 and the moving block 112 play a role of guiding, so that the movement of the bracket 124 is more stable. In other embodiments, the moving block 112 and the bracket 124 may not be provided, and the bracket 124 moves along the screw rod 125 under the driving of the screw rod 125, so as to clamp or release the clamping portion 11. Finally, the auxiliary gear 123 is rotated by the main gear 122, so that the bracket 124 moves along the screw rod 125 to move the two clamping portions 11 toward or away from each other. The adjustment mechanism 12 that this application provided utilizes intermeshing's gear structure, changes the rotation of vertical direction into the removal of horizontal direction, finally realizes the automatically regulated of cavity size between the clamping part 11 to manipulator 1.

Fig. 2 is a structural view of a first conveying device of a robot transportation device according to an embodiment of the present invention, and the first conveying device 2 is connected to a robot 1, and includes a first driving unit 21, a first transmission portion including a first gear (not shown) and a first rack 23 engaged with the first gear, a first guide rail 24, a first bottom plate 25, and a first slider 26, where the first gear is connected to an output end of the first driving unit 21, the first driving unit 21 is a motor, a rotation axial direction of the first gear is perpendicular to a ground surface, and the first rack 23 is fixed to the first bottom plate 25 in parallel with the first guide rail 24 and perpendicular to the rotation axial direction of the first gear. The first drive unit 21 is connected to the robot 1 via the link 126, the robot 1 is connected to the first slider 26 via the link 126, and the first slider 26 is disposed on the first guide rail 24 and can slide along the first guide rail 24. Specifically, the direction of the first guide rail 24 is horizontally arranged and is perpendicular to the direction of the relative movement of the two clamping portions 11, the first driving unit 21 drives the first gear to rotate, the first rack 23 is fixed on the first bottom plate 25, the first gear moves along the direction of the first rack 23, and the first driving unit 21 and the slider 26 are connected with the manipulator 1 through the connecting frame 126, so that the slider 26 is driven to move along the first guide rail 24, and the first slider 26 drives the manipulator 1 to move along the first guide rail 24 in the first direction.

Fig. 3 is a schematic diagram of a second transfer device of the robot transport device according to an embodiment of the present invention, and the second transfer device 3 includes a second drive unit 31, a second transmission unit including a second gear (not shown) and a second rack 33 engaged with the second gear, a second guide rail 34, a second base plate 35, and a second slider 36 sliding along the second guide rail 34. The second gear is disposed at an output end of the second driving unit 31, the second driving unit 31 is a motor, a rotation axial direction of the second gear is perpendicular to a horizontal plane, the second rack 33 and the second guide rail 34 are horizontally fixed on the second bottom plate 35, and the second rack 33 and the second guide rail 34 are disposed in parallel.

The second driving unit 31 is connected to the first conveying device 2, the second slider 36 is connected to the first base plate 25, and the second conveying device 3 moves the first base plate 25 in the second direction, thereby moving the manipulator 1 in the second direction. Specifically, the second driving unit 31 is connected to the first bottom plate 25, the first bottom plate 25 is connected to the second slider 36, when the second driving unit 31 drives the second gear to rotate, the second gear moves along the second rack 33, and the second rack 33 is fixed to the second bottom plate 35, so that the second driving unit 31 drives the first bottom plate 25 to move along the second guide rail 34, and the second guide rail 34 and the first guide rail 24 are both horizontally arranged and perpendicular to each other, and therefore the manipulator 1 can be finally driven to complete movement in the second direction.

Fig. 4 is a perspective view of a robot transportation device according to an embodiment of the present application, including a robot 1, a first transportation device 2, a second transportation device 3, and a third transportation device 4, wherein the third transportation device 4 includes a third driving unit 41, a third main gear 42, a third sub-gear 43, a sprocket structure 44, a frame 45, and a support shaft 46. The frame 45 is in a shape of a Chinese character 'men', and includes two vertical posts 451 perpendicular to the second bottom plate 35, and a horizontal cross beam 452 connecting the two vertical posts 451, so that the third conveying device 4 moves the second bottom plate 35 along the frame 45 in the third direction, thereby driving the manipulator 1 to move in the third direction.

The third conveying device 4 comprises a chain wheel structure 44, the chain wheel structure 44 is arranged along the upright post 451, and the second bottom plate 35 is driven by the chain wheel structure 44 to complete the movement in the third direction. The third driving unit 41 of the third conveying device 4 is disposed on the top of the frame 45, the third driving unit 41 is a motor, and the output end of the third driving unit 41 is mounted with a third main gear 42, and the third sub-gear 43 meshed with the third main gear 42 drives the sprocket structure 44 to rotate. Wherein, the rotating shafts of the third main gear 42 and the third sub-gear 43 are axially consistent, and are parallel to the axial direction of the supporting shaft 46 of the third sub-gear 43, and the supporting shaft 46 is consistent with the direction of the cross beam 452. When the third driving unit 41 rotates, the third main gear 42 is driven to rotate, the third main gear 42 drives the third sub-gear 43 to rotate, the third sub-gear 43 drives the chain wheel structure 44 to rotate along the upright post 451, so as to raise or lower the second bottom plate 35, and the robot 1 is disposed on the second bottom plate 35 and can move in a third direction perpendicular to the second bottom plate 35.

Finally, the manipulator 1 moves in a first direction in the horizontal direction along the first guide rail 24 under the action of the first conveying device 2, and the first guide rail 24 is arranged on the first bottom plate 25, so that the manipulator 1 moves in the first direction on the first bottom plate 25; the first bottom plate 25 is arranged on the second guide rail 34, the second guide rail 34 is arranged on the second bottom plate 35, and the second conveying device 3 enables the first bottom plate 25 to complete the movement in the second direction of the horizontal direction along the second guide rail 34, so that the manipulator 1 can realize the movement in the second direction along the second bottom plate 35; the third conveyor 4 is disposed perpendicularly to the second base plate 35, and the second base plate 35 is lifted or lowered in the vertical direction by the sprocket structure 44, so that the robot 1 is moved in the vertical direction. Finally, the manipulator 1 completes the movement of three dimensions of the first direction, the second direction and the third direction under the combined action of the three conveying devices, and the three conveying units are independent in structure and do not interfere with each other, so that the cost is lower in the later maintenance direction.

Furthermore, the present application includes a control system, which is connected with the power plant 121, the first drive unit 21, the second drive unit 31 and the third drive unit 41. Specifically, the control system is configured to control the power device 121, the first driving unit 21, the second driving unit 31, and the third driving unit 41 to be turned on or off, so as to control the gripping part 11 of the manipulator 1 and move the manipulator 1 in three mutually perpendicular directions. It should be noted that, the three independent conveying units provided by the present application operate on the principle that power is converted through a sprocket structure or a rack and pinion structure, so in practical application, the power conveying modes of the three conveying units are not limited to the combinations provided in the above embodiments, and those skilled in the art can optimally combine the two power conveying modes according to actual work requirements and technical experiences, so as to better control the processing cost while meeting their own requirements.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A manipulator transport device, comprising:

a manipulator;

the first conveying device is movably arranged on the manipulator and is used for driving the manipulator to move in a first direction;

the first conveying device is movably arranged on the second conveying device, the second conveying device is used for driving the first conveying device and the mechanical arm to move in a second direction, and the second direction is perpendicular to the first direction;

the second conveying device is movably arranged on the third conveying device, the third conveying device is used for driving the second conveying device, the first conveying device and the mechanical arm to move in a third direction, and the third direction is perpendicular to the first direction and the second direction.

2. The robot transportation device of claim 1, wherein the robot includes an adjustment mechanism and two oppositely disposed gripping portions, and a distance between the two gripping portions is adjusted by the adjustment mechanism.

3. The robot transportation device of claim 2, wherein the adjusting structure comprises a power device, a main gear, a secondary gear, a bracket, a screw rod and a connecting frame, the power device is connected with the main gear, the secondary gear is meshed with the main gear, and the secondary gear is sleeved on the screw rod and is connected with the connecting frame through the screw rod.

4. The robot transportation device according to claim 1, wherein the first transportation device includes a first base plate and a first driving unit provided on the first base plate, and the robot is provided on the first base plate and performs the movement in the first direction by the first driving unit.

5. The robot transportation device according to claim 4, wherein the first transportation device further includes a first rail and a first transmission portion, the first rail is disposed on the first base plate, the first transmission portion is connected to the first driving unit, the first transmission portion is disposed on the first base plate and is parallel to the first rail, a slider is disposed on the first rail, and the slider is connected to the robot through a link.

6. The manipulator transport device according to claim 5, wherein the manipulator is connected to the first driving unit through the connecting frame, and the first driving unit moves along the first transmission portion, thereby moving the manipulator along the first guide rail in the first direction.

7. The robot transportation device according to claim 5, wherein the first base plate is provided on the second transportation device, the second transportation device including a second base plate and a second driving unit provided on the second base plate, the second base plate being parallel to the first base plate.

8. The manipulator transport device according to claim 7, wherein the second transport device further includes a second guide rail and a second transmission portion, the second guide rail is disposed on the second base plate, the second transmission portion is connected to the second driving unit, the second transmission portion is disposed on the second base plate and is parallel to the second guide rail, the second driving unit is connected to the first transport device, and the second driving unit moves along the second transmission portion, so as to drive the first transport device to complete the movement of the first transport device along the second guide rail in the second direction.

9. The robotic transport device of claim 8, wherein the third transport device includes a sprocket structure and a third drive unit, the third drive unit driving the sprocket structure to rotate to drive the second transport device to complete the movement in the third direction.

10. The robotic transport device of claim 9, wherein the third conveyor further includes a frame, the frame being perpendicular to the second floor, the sprocket structure being disposed on the frame.